‘Scrape That Barnacle’: Commanding Underwater Robot In-Contact Manipulation Tasks with Intuitive Spatial-Temporal-Force Features
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Keywords: Underwater Robot, In-Contact Manipulation
Abstract: How might a robot operator command underwater
robot in-contact manipulation tasks? One of the boons of
modern language models is the flexibility of what you can
describe, and physical tasks have universal features, in that
they occur in space and time, and that physics will predict
certain outcomes (like an unstable block tower falling over).
This work seeks to command spatial-temporal-force priorities
and strategies between a human operator and robot, such that
it can effectively perform underwater in-contact manipulation
tasks, introducing a notation, study design, and ongoing theory
building of effective command features. If successful, we expect
such paradigms to cross apply to other out-of-water domains,
such as giving an elderly person a sponge-bath, which we all
know should be a gentler operation than hull cleaning. These
kinds of adverbs are our hypothesized critical features.
Submission Number: 8
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